基于蜂拥控制的移动传感器网络目标跟踪算法

针对移动传感器网络中的目标跟踪问题, 以及现有控制策略在保持网络拓扑结构连通性和降低能量消耗方面存在的不足, 提出一种基于蜂拥控制的移动传感器网络目标跟踪算法. 首先, 利用网络中部分节点检测目标, 并使用卡尔曼一致性滤波算法估计目标的状态, 在获得比较精确的估计状态的同时降低能量消耗; 然后, 在蜂拥控制下传感器网络始终保持拓扑结构连通性和目标对网络可见, 同时避免节点之间发生碰撞. 仿真结果验证了所提出算法的有效性.

Target tracking algorithm of mobile sensor networks based on flocking control

In the mobile sensor networks(MSN), the existing target tracking control strategies have shortcomings in preserving topology connectivity and decreasing power consumption. Therefore, a target tracking algorithm based on the flocking-based mobility control algorithm is proposed. Firstly, the target is assumed to be observed by a small fraction of mobile sensors in the networks, which takes important role on reducing power consumption. Then, the connectivity-preserving and collision-avoiding flocking algorithm enables all mobile sensors to track the target utilizing the states of target which are estimated by the small percentage of mobile sensors using Kalman-consensus filtering. Finally, simulation results show the effectiveness of the proposed control scheme.